The backbone of the cart is the Segway Mini Pro. An aluminium frame attaches to the Segway via an eye-bolt and two carabiners, the larger of which has some tape wrapped around it to reduce wear. A swivel caster is attached with u-bolts to support the weight of the rider along the middle of this makeshift go-cart. Pushing on a t-handle made of pvc — connected to the Segway’s knee brace with a simple strap — engages the motor in lieu of the normal lean-to-go-forward action. Turning is simply done by swinging the handle or pressing with your feet.

Balance: we humans take it for granted. Without the sense of balance provided by our inner ears, we would have a hard time standing or walking around. What’s easy for us can be very hard for machines though. Projects that balance things have long been a challenge for engineers, makers and hackers. And rightly so, as building a machine to keep an object in balance often requires some novel electronic and mechanical solutions. This week’s Hacklet is all about projects that keep an object – or themselves – in balance.

We start with [Manuel Kasten] and Balance Wheel. Inspired by a project at Chaos Communication Congress, [Manuel] created a hack that looks timeless. A stainless steel ball is balanced on top of a wooden wheel. The system detects the ball’s position using a solar cell. More light on the cell means the ball is slipping off the wheel. The system counteracts this by spinning the wheel to oppose the falling ball. In the old days this would have been an analog system. [Manuel] made things a bit more modern by using an ATmega644p processor. The video shows the wheel spinning a bit fast, as the system was tuned for a ping pong ball rather than a heavy steel roller.

Next up is [Jason Dorie] with Sideway. Sideway is a two-wheeled skateboard that self-balances. One of the best parts of this project is that most of the mechanical components are from electric scooters, which means they are easy to source. The frame is even easier: A solid piece of plywood supports the rider and all the electronics. Two scooter motors are driven by a Sabertooth 2x32A motor controller. A Parallax Propeller performs the balancing act, obtaining IMU data from an ITG3200 digital gyro and an ADXL345 accelerometer. Speed is controlled by leaning forward and back, like a Segway. Steering is controlled by a Wiimote nunchuck. Sideway is powered by 3 cell LiPo batteries. [Jason] says this ride gets a lot of attention every time he takes it out.

[Dominic Robillard] developed his Stair-climbing self-balancing robot as part of his masters degree at the University of Ottawa. We don’t know what grade his advisors gave him, but we give this project an A+. The robot is a 4WD off-road monster. Two heavy-duty drive motors give it tank style steering. The most impressive part of the robot are the two arms which allow it to roll its entire chassis up and over obstacles which would stop much larger robots. [Dominic’s] robot isn’t just statically balanced though – it can rear up and ride on two wheels Segway style. If it does tip over, the arms will lift it right back up!

Finally, we have [Paul Bristow] with Terabalance. [Paul] got his hands on an early copy of the TeraRanger One, a Time of Flight (ToF) sensor developed at CERN. He decided to test it out by using it to balance a ping pong ball on a wooden bar. The sensor had to be slowed down quite a bit in this application, data is only read about 1000 times a second and averaged. An Arduino reads the distance data from the sensor and uses that data to drive a hobby servo. No PID loops here, in fact, Terabalance is a great example of how a proportional only system will hunt forever. That said, it is good enough to keep the ball on the balance bar.

We’ve seen lots of Segway variants on Hackaday, but they don’t always have detailed instructions on how they made it… Well lucky for us, [Bob] from [Making Stuff] just finished his extensive Segway project with tons of videos of the build!

Inspired by other self-balancing scooter projects he had seen online, [Bob] wanted to try his hand at building one. So he took bits and pieces from designs he liked, and came up with his own solid looking Segway clone design. Using Google Sketchup he drew up the frame, and from there it was all hands on deck. A bit of TIG welding later and it was time for the components.

Some small slight mechanical hiccups aside, the longest part of the project was the electronics and software — getting it to work like a real Segway. After writing his own code he ran into a few roadblocks, but luckily he was able to get some help from someone at his local Maker meetup which saved a lot of troubleshooting on his end.

[Jason Dorie] has been hard at work on his two-wheeled, self-balancing skateboard. He calls it the Sideway.

Similar to the Segway, it relies on the user shifting their weight to control the speed at which it will run. A Wii Nunchuk controller is used to steer, which varies each wheels output, which allows for some tight maneuvering!

Under the deck is a pair of 24V 280W (about 1/3HP each) scooter motors which are driven by two 32A Sabertooth speed controllers. They’re run off a pair of 3 cell 5Ah LiPos which get him about 40 minutes of use — not too shabby! To handle the control algorithm for the IMU, he’s using a Parallax Propeller with custom software.

To demonstrate, he takes us of a tour of one of his favorite stores — Michael’s.

[Renee] dropped a tip to let us know about EddiePlus, her balancing robot creation. As its name might imply, EddiePlus is controlled by an Intel Edison processor. More specifically, [Renee] is using several of Sparkfun’s Edison Blocks to create Eddie’s brain. EddiePlus’ body is 3D printed, while his movement comes from two Pololu DC motors with wheels and encoders. The full build instructions are available as a PDF from [Renee’s] Google drive.

Eddie is able to balance and drive around on two wheels, much like a Segway. Sensor data for balance comes from Sparkfun’s LSM9DS0 based Inertial Measurement Unit (IMU) block. In this new “plus” version of Eddie, [Renee] has added encoders to the robot’s wheels. This makes it easier for him to adapt to changing loads – such as pumping iron (or banana plugs as the case may be). The encoders also help with varying terrain, as [Renee] demonstrates by tilting a board as Eddie drives on it. Eddie’s code is written in C, and available on Github. Controlling Eddie is as easy as sending simple commands via UDP.

As you might imagine, the Intel Edison still has plenty of cycles left over after computing Eddie’s balance. [Renee] uses some of these with a webcam based teleoperation mode.

What happens when you put a telepresence robot online for the world to try out for free? Hilarity of course. Double Robotics is a company that builds telepresence robots. The particular robot in question is kind of like a miniature Segway with a tablet computer on top. The idea is you can control it with your own tablet from a remote location. This robot drives around with your face on the screen, allowing you to almost be somewhere when you can’t (or don’t want to) be there in person.

Double Robotics decided to make one of these units accessible to the Internet as a public demonstration. Of course, they couldn’t have one of these things just roaming about their facility unrestrained. They ended up keeping it locked in an office. This gives users the ability to drive it around a little bit and get a feel for the robot. Of course it didn’t take long for users to start to wonder how they could break free from their confinement.

One day, a worker left the office door cracked open ever so slightly. A user noticed this and after enough patience and determination, managed to use the robot to get the door opened. It appears as though the office was closed at the time, so no one was around to witness the event. A joy ride ensued and the robot hid its tracks by locking itself back in the room and docking to the charging station.

While this isn’t a hack in the typical sense, this is a perfect example of the hacker mindset. You are given some new technology and explore it to the extent at which you are supposed too. After that, many people would just toss it aside and not give it a second thought. Those with the hacker mindset are different, though. Our next thought is usually, “What else can I do with it?” This video demonstrates that in a fun and humorous way. Hopefully the company learns its lesson and puts a leash on that thing. Continue reading “Telepresence Robot Demo Unit Breaks Free of It’s Confinement”→

Back in 2012, he made a small balancing robot using a gyroscopic sensor and a PID controller — you can see the original post here. The cool thing is, he’s basically just scaled up his original project to create this full-size Segway!

It uses two 500W 24V DC motors (MY1929Z2) on an aluminum check plate frame, with the rest of the structure made from steel plumbing and fittings. What we really like is the steering linkage; similar to a real Segway, you pull the handle in the direction you want to turn. He’s accomplished this by putting another length of pipe parallel to the wheels which is connected by an elbow fitting to the handle bar. It’s supported by two pillow block bearings, and in the back is a fixed potentiometer — when you lean the handle bars one way, the pipe rotates, spinning the potentiometer. To make it return to neutral, he’s added springs on either side.

There’s an impressive build log to go along with it, and a great demonstration video after the break.